<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.13"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>My Project: src/main.cpp 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">My Project
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.8.13 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'搜索');
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('main_8cpp_source.html','');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">main.cpp</div>  </div>
</div><!--header-->
<div class="contents">
<a href="main_8cpp.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;math.h&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;route_tinker/route_tinker.h&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;route_tracker/route_tracker.h&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;route_tracker/wp_manager.h&quot;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;uav_link_ifs/uavcontrol_interface.h&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;uav_link_ifs/mavlink_interface.h&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;base/cfg.h&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;base/baseMethod.h&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;base/baseType.h&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;flight_task/flow_attacher.h&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;sensor/lidar_data_process.h&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;minimumsnap_route/service.h&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;opencv2/opencv.hpp&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;thread&gt;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;functional&gt;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">   26</a></span>&#160;std::mutex <a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>;</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="main_8cpp.html#a7071b0092ad8c5b57d6cc40c5f803df5">   27</a></span>&#160;std::random_device <a class="code" href="main_8cpp.html#a7071b0092ad8c5b57d6cc40c5f803df5">rd</a>;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">   29</a></span>&#160;UNIVERSAL_STATE <a class="code" href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a>;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">   30</a></span>&#160;<span class="preprocessor">#define rout ROS_INFO</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="main_8cpp.html#abef969771cc38c5bef644aee2814c30f">   33</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="main_8cpp.html#abef969771cc38c5bef644aee2814c30f">spinWrapper</a>(){</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    std::stringstream ss;ss&lt;&lt;std::this_thread::get_id();</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;rosSpin_thread started .Thead id: %s&quot;</span>,ss.str().c_str());</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    ros::spin();</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;}</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="main_8cpp.html#a357c3c819884a88856b9af19f7056691">   40</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="main_8cpp.html#a357c3c819884a88856b9af19f7056691">_copter_control_thread_Wrapper</a>(PID_2D_control *p,positon_Local_NED_t &amp;input_pos_flow){</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    p-&gt;Create_Thread(input_pos_flow);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;}</div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="main_8cpp.html#a12ac40f811eae269ff4a59042875cb71">   43</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="main_8cpp.html#a12ac40f811eae269ff4a59042875cb71">_rrt_thread_Wrapper</a>(CONNECT_RRT *p</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                                ,PROBABILISTIC_MAP &amp;GridMap</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                                ,FLY_PLAN_T &amp;current_route)</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    p-&gt;Create_Thread(GridMap,current_route);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;}</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="main_8cpp.html#a2a4c4a53067044ace13905beea7b2167">   50</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="main_8cpp.html#a2a4c4a53067044ace13905beea7b2167">_waypointsMangaerThread_Wrapper</a>(WP_UPDATER *p,FLY_PLAN_T &amp;fly_plan,positon_Local_NED_t &amp;target_pos_flow){</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    p-&gt;Create_Thread(fly_plan,target_pos_flow);</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;}</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="main_8cpp.html#aef80cffe0085e212ea7091537bd09d5b">   54</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="main_8cpp.html#aef80cffe0085e212ea7091537bd09d5b">system_init</a>(Parameters *_p_,UNIVERSAL_STATE *_unity_,UAVCONTROL_INTERFACE *_uav_ifs_,positon_Local_NED_t *target_pos_flow,FLY_PLAN_T *_sub_fly_wps_){</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>=_p_;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>=_unity_;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>=_uav_ifs_;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a>=target_pos_flow;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#a366e576f575aecac53b009b4ad964a46">_sub_fly_wps</a>=_sub_fly_wps_;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;}   </div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="main_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">   62</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="main_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a> (<span class="keywordtype">int</span> argc,<span class="keywordtype">char</span> **argv)</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;{</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    ros::init (argc,argv,<span class="stringliteral">&quot;RCC&quot;</span>);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordtype">string</span> file_path;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordflow">if</span>(argc &gt;2){</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keywordtype">string</span> marker=argv[1];</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keywordflow">if</span>(marker==<span class="stringliteral">&quot;-c&quot;</span>)</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;            file_path=argv[2];</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        file_path = <span class="stringliteral">&quot;/home/az/config.txt&quot;</span>;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    }</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    fstream _file;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    _file.open(file_path, ios::in);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">if</span>(!_file){</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        cout&lt;&lt;<span class="stringliteral">&quot;&lt;&quot;</span>&lt;&lt;file_path&lt;&lt;<span class="stringliteral">&quot;&gt; didn&#39;t not exist!&quot;</span>&lt;&lt;endl;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    }</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    Parameters parameters(file_path);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">if</span>(!parameters.load_success) <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;Hello World.&quot;</span>);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    UAVCONTROL_INTERFACE *uav_ifs = <span class="keyword">new</span> MAVLINK_INTERFACE(&amp;parameters,&amp;<a class="code" href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a>);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    PROBABILISTIC_MAP grid_map(&amp;<a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>,&amp;parameters,&amp;<a class="code" href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a>,uav_ifs);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    CONNECT_RRT rrt(&amp;<a class="code" href="main_8cpp.html#a7071b0092ad8c5b57d6cc40c5f803df5">rd</a>,&amp;<a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>,&amp;parameters,&amp;<a class="code" href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a>,uav_ifs,&amp;grid_map);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    LIDAR_DATA_PROCESS points_processer(&amp;<a class="code" href="main_8cpp.html#a7071b0092ad8c5b57d6cc40c5f803df5">rd</a>,&amp;<a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>,&amp;parameters,&amp;<a class="code" href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a>,uav_ifs,&amp;grid_map);</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    WP_UPDATER wp_updater(&amp;parameters,&amp;<a class="code" href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a>,&amp;<a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>,uav_ifs);<span class="comment">//坐标Local ENU</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    FLY_PLAN_T sub_fly_wps(WP(parameters.target_pos_x,parameters.target_pos_y,parameters.target_pos_z));</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    PID_2D_control vel_control_p(&amp;parameters,&amp;<a class="code" href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a>,&amp;<a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>,uav_ifs);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    positon_Local_NED_t target_pos_flow;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <a class="code" href="main_8cpp.html#aef80cffe0085e212ea7091537bd09d5b">system_init</a>(&amp;parameters,&amp;<a class="code" href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a>,uav_ifs,&amp;target_pos_flow,&amp;sub_fly_wps);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordflow">if</span>(parameters.show_path_map)</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    {</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        cv::namedWindow(<span class="stringliteral">&quot;Path_map&quot;</span>,WINDOW_NORMAL);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        cv::resizeWindow(<span class="stringliteral">&quot;Path_map&quot;</span>, 480, 480);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        cv::moveWindow(<span class="stringliteral">&quot;Path_map&quot;</span>,1000,1000);</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordflow">if</span>(parameters.show_rt_map){</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        cv::namedWindow(<span class="stringliteral">&quot;Origin_map&quot;</span>,1);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        cv::resizeWindow(<span class="stringliteral">&quot;Origin_map&quot;</span>, 480, 480);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        cv::moveWindow(<span class="stringliteral">&quot;Origin_map&quot;</span>,1000,1000); </div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    }</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">if</span>(parameters.show_point_cloud){</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        cv::namedWindow(<span class="stringliteral">&quot;edgecloud&quot;</span>,WINDOW_NORMAL);</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        cv::resizeWindow(<span class="stringliteral">&quot;edgecloud&quot;</span>, 480, 480);</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        cv::moveWindow(<span class="stringliteral">&quot;edgecloud&quot;</span>,1600,1000);      </div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    }</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    cv::startWindowThread();</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    ros::Rate *loop_rate_try = <span class="keyword">new</span> ros::Rate(2);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    std::thread _ros_thread(<a class="code" href="main_8cpp.html#abef969771cc38c5bef644aee2814c30f">spinWrapper</a>);</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">while</span>(!<a class="code" href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a>.first_data_get) loop_rate_try-&gt;sleep();</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    ros::Rate loop_rate(30);</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;Sleep .&quot;</span>);</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i =0;i&lt;50;i++){  loop_rate.sleep(); }</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;System Start To Init.&quot;</span>);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    std::thread _copter_control_thread(<a class="code" href="main_8cpp.html#a357c3c819884a88856b9af19f7056691">_copter_control_thread_Wrapper</a>,&amp;vel_control_p,std::ref(target_pos_flow));</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    std::thread _rrt_thread(<a class="code" href="main_8cpp.html#a12ac40f811eae269ff4a59042875cb71">_rrt_thread_Wrapper</a>,&amp;rrt,std::ref(grid_map),std::ref(sub_fly_wps));</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    std::thread _waypointsMangaerThread(<a class="code" href="main_8cpp.html#a2a4c4a53067044ace13905beea7b2167">_waypointsMangaerThread_Wrapper</a>,&amp;wp_updater,std::ref(sub_fly_wps),std::ref(target_pos_flow));</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    _ros_thread.detach();</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    _copter_control_thread.detach();</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    _waypointsMangaerThread.detach();</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    _rrt_thread.detach();</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keywordflow">while</span>(ros::ok()){</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        loop_rate.sleep();</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    }</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;Program ended.&quot;</span>);</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;}</div><div class="ttc" id="main_8cpp_html_a5ac4b17db930392c756a747dc7f98e5f"><div class="ttname"><a href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a></div><div class="ttdeci">#define rout</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00030">main.cpp:30</a></div></div>
<div class="ttc" id="main_8cpp_html_ad5e0dbd36f0d71fce9b00b7f991b2f38"><div class="ttname"><a href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a></div><div class="ttdeci">std::mutex mtx</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00026">main.cpp:26</a></div></div>
<div class="ttc" id="main_8cpp_html_a2a811a65e867041bcee444e8e66188a9"><div class="ttname"><a href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a></div><div class="ttdeci">UNIVERSAL_STATE unity_state</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00029">main.cpp:29</a></div></div>
<div class="ttc" id="main_8cpp_html_a3c04138a5bfe5d72780bb7e82a18e627"><div class="ttname"><a href="main_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a></div><div class="ttdeci">int main(int argc, char **argv)</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00062">main.cpp:62</a></div></div>
<div class="ttc" id="main_8cpp_html_a357c3c819884a88856b9af19f7056691"><div class="ttname"><a href="main_8cpp.html#a357c3c819884a88856b9af19f7056691">_copter_control_thread_Wrapper</a></div><div class="ttdeci">void _copter_control_thread_Wrapper(PID_2D_control *p, positon_Local_NED_t &amp;input_pos_flow)</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00040">main.cpp:40</a></div></div>
<div class="ttc" id="main_8cpp_html_a2a4c4a53067044ace13905beea7b2167"><div class="ttname"><a href="main_8cpp.html#a2a4c4a53067044ace13905beea7b2167">_waypointsMangaerThread_Wrapper</a></div><div class="ttdeci">void _waypointsMangaerThread_Wrapper(WP_UPDATER *p, FLY_PLAN_T &amp;fly_plan, positon_Local_NED_t &amp;target_pos_flow)</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00050">main.cpp:50</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_a628de36a04ace954e48e1001ae9346f5"><div class="ttname"><a href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a></div><div class="ttdeci">Parameters * _p</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00003">flow_attacher.cpp:3</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_a6557f092608aa563dc84689f10acf889"><div class="ttname"><a href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a></div><div class="ttdeci">UAVCONTROL_INTERFACE * _uav_ifs</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00005">flow_attacher.cpp:5</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_a366e576f575aecac53b009b4ad964a46"><div class="ttname"><a href="flow__attacher_8cpp.html#a366e576f575aecac53b009b4ad964a46">_sub_fly_wps</a></div><div class="ttdeci">FLY_PLAN_T * _sub_fly_wps</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00007">flow_attacher.cpp:7</a></div></div>
<div class="ttc" id="main_8cpp_html_aef80cffe0085e212ea7091537bd09d5b"><div class="ttname"><a href="main_8cpp.html#aef80cffe0085e212ea7091537bd09d5b">system_init</a></div><div class="ttdeci">void system_init(Parameters *_p_, UNIVERSAL_STATE *_unity_, UAVCONTROL_INTERFACE *_uav_ifs_, positon_Local_NED_t *target_pos_flow, FLY_PLAN_T *_sub_fly_wps_)</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00054">main.cpp:54</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_ab0db892883304e1f5de7a967b5656f11"><div class="ttname"><a href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a></div><div class="ttdeci">UNIVERSAL_STATE * _unity</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00004">flow_attacher.cpp:4</a></div></div>
<div class="ttc" id="main_8cpp_html_a7071b0092ad8c5b57d6cc40c5f803df5"><div class="ttname"><a href="main_8cpp.html#a7071b0092ad8c5b57d6cc40c5f803df5">rd</a></div><div class="ttdeci">std::random_device rd</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00027">main.cpp:27</a></div></div>
<div class="ttc" id="main_8cpp_html_abef969771cc38c5bef644aee2814c30f"><div class="ttname"><a href="main_8cpp.html#abef969771cc38c5bef644aee2814c30f">spinWrapper</a></div><div class="ttdeci">void spinWrapper()</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00033">main.cpp:33</a></div></div>
<div class="ttc" id="main_8cpp_html_a12ac40f811eae269ff4a59042875cb71"><div class="ttname"><a href="main_8cpp.html#a12ac40f811eae269ff4a59042875cb71">_rrt_thread_Wrapper</a></div><div class="ttdeci">void _rrt_thread_Wrapper(CONNECT_RRT *p, PROBABILISTIC_MAP &amp;GridMap, FLY_PLAN_T &amp;current_route)</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00043">main.cpp:43</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_a97f2b4fc44b97adec2ed85c9354d3422"><div class="ttname"><a href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a></div><div class="ttdeci">positon_Local_NED_t * _target_pos_flow</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00006">flow_attacher.cpp:6</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="main_8cpp.html">main.cpp</a></li>
    <li class="footer">制作者
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.13 </li>
  </ul>
</div>
</body>
</html>
